diff --git a/src/cli/README.md b/src/cli/README.md
index d58e009f9..7ef1ac4d7 100644
--- a/src/cli/README.md
+++ b/src/cli/README.md
@@ -75,6 +75,7 @@ Done
 - [prefix](#prefix-add-prefix-padcrosnD-prf)
 - [promiscuous](#promiscuous)
 - [pskc](#pskc--p-keypassphrase)
+- [rcp](#rcp)
 - [releaserouterid](#releaserouterid-routerid)
 - [reset](#reset)
 - [rloc16](#rloc16)
@@ -1282,6 +1283,20 @@ Disable radio promiscuous operation.
 Done
 ```
 
+### rcp
+
+RCP-related commands.
+
+### rcp version
+
+Print RCP version string.
+
+```bash
+> rcp version
+OPENTHREAD/20191113-00825-g82053cc9d-dirty; SIMULATION; Jun  4 2020 17:53:16
+Done
+```
+
 ### releaserouterid \<routerid\>
 
 Release a Router ID that has been allocated by the device in the Leader role.
diff --git a/src/cli/cli.cpp b/src/cli/cli.cpp
index e31c8be39..4c5803115 100644
--- a/src/cli/cli.cpp
+++ b/src/cli/cli.cpp
@@ -214,6 +214,9 @@ const struct Command Interpreter::sCommands[] = {
 #if OPENTHREAD_FTD
     {"preferrouterid", &Interpreter::ProcessPreferRouterId},
     {"pskc", &Interpreter::ProcessPskc},
+#endif
+    {"rcp", &Interpreter::ProcessRcp},
+#if OPENTHREAD_FTD
     {"releaserouterid", &Interpreter::ProcessReleaseRouterId},
 #endif
     {"reset", &Interpreter::ProcessReset},
@@ -2792,7 +2795,30 @@ void Interpreter::ProcessPreferRouterId(uint8_t aArgsLength, char *aArgs[])
 exit:
     AppendResult(error);
 }
+#endif
 
+void Interpreter::ProcessRcp(uint8_t aArgsLength, char *aArgs[])
+{
+    otError     error   = OT_ERROR_NONE;
+    const char *version = otPlatRadioGetVersionString(mInstance);
+
+    VerifyOrExit(version != otGetVersionString(), error = OT_ERROR_NOT_IMPLEMENTED);
+    VerifyOrExit(aArgsLength > 0, error = OT_ERROR_INVALID_ARGS);
+
+    if (strcmp(aArgs[0], "version") == 0)
+    {
+        mServer->OutputFormat("%s\r\n", version);
+    }
+    else
+    {
+        ExitNow(error = OT_ERROR_INVALID_ARGS);
+    }
+
+exit:
+    AppendResult(error);
+}
+
+#if OPENTHREAD_FTD
 void Interpreter::ProcessReleaseRouterId(uint8_t aArgsLength, char *aArgs[])
 {
     otError error = OT_ERROR_NONE;
@@ -2806,7 +2832,7 @@ void Interpreter::ProcessReleaseRouterId(uint8_t aArgsLength, char *aArgs[])
 exit:
     AppendResult(error);
 }
-#endif // OPENTHREAD_FTD
+#endif
 
 void Interpreter::ProcessReset(uint8_t aArgsLength, char *aArgs[])
 {
diff --git a/src/cli/cli.hpp b/src/cli/cli.hpp
index 1fdf25ac1..02728565a 100644
--- a/src/cli/cli.hpp
+++ b/src/cli/cli.hpp
@@ -328,6 +328,9 @@ private:
 #if OPENTHREAD_FTD
     void ProcessPreferRouterId(uint8_t aArgsLength, char *aArgs[]);
     void ProcessPskc(uint8_t aArgsLength, char *aArgs[]);
+#endif
+    void ProcessRcp(uint8_t aArgsLength, char *aArgs[]);
+#if OPENTHREAD_FTD
     void ProcessReleaseRouterId(uint8_t aArgsLength, char *aArgs[]);
 #endif
     void ProcessReset(uint8_t aArgsLength, char *aArgs[]);